Esempio n. 1
0
        private void ReadOnThread()
        {
            while (ReadEnable)
            {
                // Read
                Tuple <uint, byte[]> CanRead = CANBus.Read();

                byte priority = Convert.ToByte(((CanRead.Item1) >> 8) & 0x01);
                byte sender   = Convert.ToByte(((CanRead.Item1) >> 4) & 0x0F);
                byte receiver = Convert.ToByte((CanRead.Item1) & 0x0F);

                ArmPacket newPack = new ArmPacket
                {
                    TargetDeviceID = (Device)sender,
                    Priority       = priority == 0 ? false : true,
                    PacketType     = (CANPacket)CanRead.Item2[0],
                    Payload        = CanRead.Item2
                };

                lock (ReceiveQueue)
                {
                    ReceiveQueue.Enqueue(newPack);
                    ReceiveQueue.TrimExcess();
                }

                Thread.Sleep(Constants.DEFAULT_MIN_THREAD_SLEEP);
            }
        }
Esempio n. 2
0
        public void Send(ArmPacket SendPacket)
        {
            byte[] id            = ConstructCanID(SendPacket);
            uint   constructedID = (uint)(id[2] << 8) | (uint)(id[1] << 4) | id[0];

            CANBus.Write(constructedID, SendPacket.Payload);
        }
Esempio n. 3
0
 private static byte[] ConstructCanID(ArmPacket packet)
 {
     byte[] canID = new byte[3];
     canID[2] = (byte)(packet.Priority ? 0x01 : 0x00);
     canID[1] = DEVICE_ADDR;
     canID[0] = (byte)packet.TargetDeviceID;
     return(canID);
 }